Passivity based control of under-actuated mechanical systems with nonlinear dynamic friction

Authors

Abstract

Passivity-based control of under-actuated mechanical systems with nonlinear friction effects in the generalized coordinates of motion is analyzed in this paper. Nonlinear friction is modeled with a modified LuGre dynamic friction model. The internal states of the dynamic friction model are incorporated as generalized coordinates in a port-controlled Hamiltonian formulation for the complete mechanical system in such a way that all passivity properties of this formulation are preserved for the extended generalized coordinates system. Interconnection and damping assignment passivity-based control laws are developed for the models of two case studies: a building with a magneto-rheological damper and a double pendulum. Simulation results are also presented.

Citation

Journal: Journal of Vibration and Control
Year: 2012
Volume: 18
Issue: 7
Pages: 1025–1042
Publisher: SAGE Publications
DOI: 10.1177/1077546311408469

BibTeX

@article{Cornejo_2011,
  title={{Passivity based control of under-actuated mechanical systems with nonlinear dynamic friction}},
  volume={18},
  ISSN={1741-2986},
  DOI={10.1177/1077546311408469},
  number={7},
  journal={Journal of Vibration and Control},
  publisher={SAGE Publications},
  author={Cornejo, Cecilia and Alvarez-Icaza, Luis},
  year={2011},
  pages={1025--1042}
}

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References

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